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delete vehicle_global_velocity_setpoint

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This commit is contained in:
Daniel Agar
2017-06-26 11:31:25 -04:00
parent fc860140f1
commit f947205cbe
9 changed files with 0 additions and 63 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-18
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@@ -61,7 +61,6 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -121,7 +120,6 @@ private:
int _home_pos_sub; /**< home position */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
orb_id_t _attitude_setpoint_id;
@@ -134,7 +132,6 @@ private:
struct vehicle_local_position_s _local_pos; /**< vehicle local position */
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct home_position_s _home_pos; /**< home position */
control::BlockParamFloat _manual_thr_min; /**< minimal throttle output when flying in manual mode */
@@ -394,7 +391,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
/* publications */
_att_sp_pub(nullptr),
_local_pos_sp_pub(nullptr),
_global_vel_sp_pub(nullptr),
_attitude_setpoint_id(nullptr),
_vehicle_status{},
_vehicle_land_detected{},
@@ -405,7 +401,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
_local_pos{},
_pos_sp_triplet{},
_local_pos_sp{},
_global_vel_sp{},
_home_pos{},
_manual_thr_min(this, "MANTHR_MIN"),
_manual_thr_max(this, "MANTHR_MAX"),
@@ -1782,19 +1777,6 @@ MulticopterPositionControl::calculate_velocity_setpoint(float dt)
/* limit vertical velocity to the current ramp value */
_vel_sp(2) = math::max(_vel_sp(2), -_takeoff_vel_limit);
}
/* publish velocity setpoint */
_global_vel_sp.timestamp = hrt_absolute_time();
_global_vel_sp.vx = _vel_sp(0);
_global_vel_sp.vy = _vel_sp(1);
_global_vel_sp.vz = _vel_sp(2);
if (_global_vel_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_pub, &_global_vel_sp);
} else {
_global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &_global_vel_sp);
}
}
void